Experimental Results of a High Speed Robotic Autoloader for a Howitzer

This paper describes the experimental results of a high speed robotic system used in an electric autoloader for the Army's 155 man self propelled howitzer. Besides the nonlinear dynamics, the real-time controller also needs to be robust against factors such as unmodelled dynamics, noise, and actuator saturation. This paper also describes the special hardware that was built to handle the electrical power and computational requirements.